System and method for moving a probe to follow movements of tissue

摘要

An apparatus is described for moving a probe that engages moving living tissue such as a heart or an artery that is penetrated by the probe, which moves the probe in synchronism with the tissue to maintain the probe at a constant location with respect to the tissue. The apparatus includes a servo positioner which moves a servo member to maintain a constant distance from a sensed object while applying very little force to the sensed object, and a follower having a stirrup at one end resting on a surface of the living tissue and another end carrying a sensed object adjacent to the servo member. A probe holder has one end mounted on the servo member and another end which holds the probe.